JPH06284774A - Method and apparatus for synchronous operation of machine tool - Google Patents
Method and apparatus for synchronous operation of machine toolInfo
- Publication number
- JPH06284774A JPH06284774A JP5064472A JP6447293A JPH06284774A JP H06284774 A JPH06284774 A JP H06284774A JP 5064472 A JP5064472 A JP 5064472A JP 6447293 A JP6447293 A JP 6447293A JP H06284774 A JPH06284774 A JP H06284774A
- Authority
- JP
- Japan
- Prior art keywords
- electric motor
- speed
- spindle
- signal
- command value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Control Of Multiple Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、工作機械が備えてい
る２つの主軸で共通の被加工物を駆動する際に、この被
加工物が剛体であるか否かにかかわらずに同期運転をす
ることができる工作機械の同期運転制御方法とその同期
運転制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, when driving a common work piece by two spindles of a machine tool, performs synchronous operation regardless of whether the work piece is a rigid body or not. The present invention relates to a synchronous operation control method for a machine tool and a synchronous operation control device therefor.
【０００２】[0002]
【従来の技術】旋盤などの工作機械で被加工物（以下で
はワークと称する）２を切削する際は、主軸に装着した
チャックにワーク２の一端を固定した状態でこの主軸を
回転させてワーク２の加工を行う。しかしながら、この
ワーク２の寸法が長大な場合にその一端のみを回転させ
ると、ワーク２の他端部分が振り回されてしまうので、
加工が不可能になる。そこでワーク２が長大な場合はそ
の一端を前述したように第１の主軸で回転させると共
に、第２の主軸に装着したチャックにこのワーク２の他
端を固定し、第１の主軸と第２の主軸とを同期状態で回
転させれば、ワーク２が振り回される恐れがなく、円滑
に加工が行える。2. Description of the Related Art When a workpiece (hereinafter referred to as "workpiece") 2 is cut by a machine tool such as a lathe, one end of the work piece 2 is fixed to a chuck mounted on the main spindle to rotate the work spindle. Process 2. However, if only one end of the work 2 is rotated when the size of the work 2 is long, the other end of the work 2 is swung,
Processing becomes impossible. Therefore, when the work 2 is long, one end of the work 2 is rotated by the first main spindle as described above, and the other end of the work 2 is fixed to the chuck mounted on the second main spindle. If the spindle is rotated in synchronism with the spindle, the workpiece 2 will not be swung around and the machining can be performed smoothly.
【０００３】図５は２つの主軸で共通の被加工物を駆動
する工作機械の両主軸を同期して運転する従来例を示し
た制御ブロック図である。この図５に図示の従来例回路
において、第１インバータ１５が出力する交流の電圧と
周波数とに対応して第１電動機１３は可変速運転する。
即ち速度調節器１７とベクトル演算回路１８とベース駆
動回路１９とで構成した第１電動機制御回路１６へ、速
度設定器３で設定した速度指令値と、第１電動機１３に
結合している第１速度検出器１４からフィードバックす
る速度検出値との偏差を与え、これにより第１インバー
タ１５を制御して第１電動機１３を前記の速度指令値に
一致した速度で運転できる。尚、第１電動機制御回路１
６の動作は本発明とは無関係であるから、これの動作説
明は省略する。第１電動機１３のトルクは減速ギヤ１２
を介して第１主軸１０へ伝えられる。FIG. 5 is a control block diagram showing a conventional example in which two main spindles of a machine tool for driving a common workpiece by two main spindles are operated in synchronization. In the conventional circuit shown in FIG. 5, the first electric motor 13 operates at a variable speed corresponding to the AC voltage and frequency output by the first inverter 15.
That is, the first motor control circuit 16 including the speed controller 17, the vector calculation circuit 18, and the base drive circuit 19 is connected to the first motor 13 by the speed command value set by the speed setter 3. A deviation from the detected speed value fed back from the speed detector 14 is given, whereby the first inverter 15 is controlled and the first electric motor 13 can be operated at a speed that matches the speed command value. The first motor control circuit 1
The operation of No. 6 is irrelevant to the present invention, and therefore the explanation of the operation will be omitted. The torque of the first electric motor 13 is the reduction gear 12
Is transmitted to the first spindle 10 via.
【０００４】前記と同様に、第２インバータ２５が出力
する交流の電圧と周波数とに対応して、第２電動機２３
も可変速運転する。即ち速度調節器２７とベクトル演算
回路２８とベース駆動回路２９とで構成した第２電動機
制御回路２６へは、速度設定器３が設定している速度指
令値と、第２電動機２３に結合している第２速度検出器
２４からフィードバックする速度検出値との偏差を与
え、これにより第２インバータ２５を制御して第２電動
機２３を、第１電動機１３への速度指令値と同じ値の速
度指令値に一致する速度で運転する。第２電動機２３の
トルクは減速ギヤ２２を介して第２主軸２０へ伝えられ
る。Similarly to the above, the second electric motor 23 corresponding to the AC voltage and frequency output by the second inverter 25.
Also variable speed operation. That is, the speed command value set by the speed setter 3 and the second electric motor 23 are connected to the second electric motor control circuit 26 including the speed adjuster 27, the vector operation circuit 28, and the base drive circuit 29. A deviation from the detected speed value fed back from the second speed detector 24 is given, thereby controlling the second inverter 25 so that the second electric motor 23 has the same speed command value as the speed command value to the first electric motor 13. Drive at a speed that matches the value. The torque of the second electric motor 23 is transmitted to the second main shaft 20 via the reduction gear 22.
【０００５】被加工物としてのワーク２はこれら第１主
軸１０と第２主軸２０とにより駆動される。ここで第１
電動機１３と第２電動機２３とは速度設定器３が設定す
る同一の速度指令値に基づいて運転しているが、両電動
機やその制御装置の僅かな特性の差が原因で、第１電動
機１３の分担トルクと第２電動機２３の分担トルクに差
異を生じたり、第１主軸１０の位置と第２主軸２０の位
置とがずれたりすることがある。電動機トルクの差異は
ワーク２に余分な力がかかることを意味しており、相対
的な主軸の位置ずれはワーク２にねじれを与えることを
意味すしており、いずれも避けなければならない。The work 2 as a workpiece is driven by the first spindle 10 and the second spindle 20. Here first
The electric motor 13 and the second electric motor 23 operate based on the same speed command value set by the speed setter 3. However, due to a slight difference in characteristics between the two electric motors and their control devices, the first electric motor 13 There may be a difference in the torque shared by the second motor 23 and the torque shared by the second electric motor 23, or the position of the first spindle 10 and the position of the second spindle 20 may deviate. The difference in the electric motor torque means that an excessive force is applied to the work 2, and the relative displacement of the main shaft means that the work 2 is twisted, and both must be avoided.
【０００６】そこで速度調節器１７がベクトル演算回路
１８へ出力する第１電動機１３のトルク指令値を取り出
すと共に、速度調節器２７がベクトル演算回路２８へ出
力する第２電動機２３のトルク指令値も取り出して、こ
れら両トルク指令値の偏差をトルク調節器４へ入力させ
る。トルク調節器４はその調節動作でその入力偏差を零
にするトルク調節信号を出力する。このトルク調節信号
はトルク調節信号接点５を介して第１加算器６へ入力
し、第１加算器６は速度指令値とトルク調節信号との加
算演算結果を速度指令値として第２電動機制御回路２６
へ入力させるので、第２電動機２３はこの速度指令値に
一致する速度で運転することになる。それ故、両電動機
のトルク指令値に差異を生じると、第２電動機２３の速
度指令値はこのトルク指令値の差異を解消する方向に変
化して、常に両電動機のトルクが平衡するようにしてい
る。Therefore, the speed controller 17 takes out the torque command value of the first electric motor 13 which is output to the vector arithmetic circuit 18, and the torque command value of the second electric motor 23 which the speed regulator 27 outputs to the vector arithmetic circuit 28 is also taken out. Then, the deviation between these two torque command values is input to the torque adjuster 4. The torque adjuster 4 outputs a torque adjusting signal that makes the input deviation zero by the adjusting operation. This torque adjustment signal is input to the first adder 6 via the torque adjustment signal contact 5, and the first adder 6 uses the addition calculation result of the speed command value and the torque adjustment signal as the speed command value to the second motor control circuit. 26
The second electric motor 23 operates at a speed that matches the speed command value. Therefore, when a difference occurs between the torque command values of the two electric motors, the speed command value of the second electric motor 23 changes in a direction to eliminate the difference between the torque command values, so that the torques of the both electric motors are always balanced. There is.
【０００７】更に第１主軸１０には、例えばパルスエン
コーダのような第１位置発信器１１を結合して第１主軸
１０の回転角度位置を検出し、第２主軸２０にも同様の
構造の第２位置発信器２１を結合して第２主軸２０の回
転角度位置を検出する。位置調節器７は両位置発信器が
検出する位置信号の偏差を入力して、この入力偏差を零
にする位置調節信号を位置調節信号接点８を介して第２
加算器９へ出力する。第２加算器９は速度設定器３が設
定する速度指令値とこの位置調節信号とを加算し、その
加算演算結果を、第２電動機２３の速度指令値として第
２電動機制御回路２６へ入力させる。それ故、両主軸の
位置に差異を生じると第２電動機２３の速度指令値はこ
の位置の差異を解消する方向に変化して、常に両主軸の
相対位置が一致している状態で運転する。Further, a first position transmitter 11 such as a pulse encoder is connected to the first main shaft 10 to detect the rotational angular position of the first main shaft 10, and the second main shaft 20 has a similar structure. The two-position transmitter 21 is coupled to detect the rotational angle position of the second main shaft 20. The position adjuster 7 inputs the deviation of the position signals detected by both position transmitters, and outputs a position adjustment signal for making the input deviation zero through the position adjustment signal contact 8 to the second position.
Output to the adder 9. The second adder 9 adds the speed command value set by the speed setter 3 and this position adjustment signal, and inputs the addition calculation result to the second electric motor control circuit 26 as the speed command value of the second electric motor 23. . Therefore, when a difference occurs between the positions of both spindles, the speed command value of the second electric motor 23 changes in a direction to eliminate the difference between these positions, and the operation is always performed in a state where the relative positions of the two spindles match.
【０００８】ワーク２が剛体の場合はねじれを生じな
い。即ち両主軸の相対位置にずれは生じないから相対位
置を一致させる制御は行わなくてもよい。よってワーク
２が剛体の場合は位置調節信号接点８は開路しておき、
トルク調節信号接点５を閉路して、両電動機のトルクバ
ランスを図りながら運転することになる。一方、ワーク
２が剛体とは見做せない場合には両主軸の相対位置がず
れればワーク２はねじれてしまうので、この場合はトル
ク調節信号接点５は開路し、位置調節信号接点８を閉路
し、両主軸の相対位置が常に一致した状態になるように
制御しながら運転をすることになる。When the work 2 is a rigid body, no twist occurs. That is, since there is no deviation in the relative positions of the two spindles, the control for matching the relative positions need not be performed. Therefore, when the work 2 is a rigid body, the position adjustment signal contact 8 is opened,
The torque adjustment signal contact 5 is closed, and the two motors are operated while maintaining the torque balance. On the other hand, when the work 2 cannot be regarded as a rigid body, the work 2 will be twisted if the relative positions of both spindles are displaced. In this case, the torque adjustment signal contact 5 is opened and the position adjustment signal contact 8 is opened. The circuit is closed, and the operation is performed while controlling so that the relative positions of both spindles are always in agreement.
【０００９】[0009]
【発明が解決しようとする課題】工作機械がワーク２を
加工しているうちに、当初は剛体だったものが剛体とは
見做せなくなってしまう場合がある。例えば旋盤で長大
なワーク２を切削する場合、このワーク２は当初は太く
て剛体であったものが、切削加工の進行に従って細くな
れば剛体とは見做せなくなる。剛体でないと、２つの主
軸がトルクバランス制御しつつ運転している際の僅かな
誤差や、両主軸の機械損の僅かな差に起因するトルクの
不平衡が原因で、ワーク２にねじれを生じてしまう。そ
れ故、図５に図示の従来例回路では、当初はトルク調節
信号接点５を閉路して運転していたのを、ワーク２が剛
体とは見做せなくなった時点を推定して、この推定時点
で工作機械を一旦停止し、トルク調節信号接点５を開路
し且つ位置調節信号接点８を閉路する切替え操作をした
後に運転を再開しなければならないので、手間がかかる
し、当該工作機械の稼働率が低下してしまう不都合があ
った。更にトルクバランス制御から位置平衡制御への切
替えのタイミングが遅れると、前述した理由でワーク２
にねじれによる歪みを生じ、極端な場合は不良品として
廃却しなければならない不具合を生じるおそれがある。
よってこの切替えタイミングの監視に神経を集中しなけ
ればならない不具合もある。While the machine tool is machining the work 2, there is a case where what is initially a rigid body cannot be regarded as a rigid body. For example, when a long work 2 is cut by a lathe, the work 2 was initially thick and rigid, but if it becomes thin as the cutting process progresses, it cannot be regarded as a rigid body. If it is not a rigid body, the work 2 will be twisted due to a slight error when the two spindles are operating while controlling the torque balance and a torque imbalance due to a slight difference in mechanical loss between the two spindles. Will end up. Therefore, in the conventional circuit shown in FIG. 5, the torque adjustment signal contact 5 was initially closed for operation, but the time when the work 2 could not be regarded as a rigid body was estimated, and this estimation was performed. At this point, the machine tool must be stopped once, and the operation must be restarted after the switching operation to open the torque adjustment signal contact 5 and close the position adjustment signal contact 8, which is troublesome, and the operation of the machine tool There was an inconvenience that the rate decreased. Further, if the timing of switching from torque balance control to position balance control is delayed, the work 2
Distortion due to twisting may occur, and in an extreme case, there is a possibility of causing a defect that must be discarded as a defective product.
Therefore, there is a problem that the nerve must be concentrated on the monitoring of the switching timing.
【００１０】そこでこの発明の目的は、工作機械が備え
ている２つの主軸で共通の被加工物を駆動する際に、こ
の被加工物が剛体であるか否かにかかわらず円滑に同期
運転を可能にすることにある。Therefore, an object of the present invention is to smoothly perform synchronous operation when a common work piece is driven by two spindles provided in a machine tool, regardless of whether the work piece is a rigid body or not. To enable.
【００１１】[0011]
【課題を解決するための手段】上記の目的を達成するた
めにこの発明の工作機械の同期運転制御方法とその同期
運転制御装置は、速度指令値に従って速度制御されてい
る第１電動機を第１主軸に結合し、この第１電動機と同
一の速度指令値に従って速度制御されている第２電動機
を第２主軸に結合し、これら第１主軸と第２主軸とで共
通の被加工物を駆動する構成の工作機械で、前記被加工
物が剛体と見做せる場合は前記第１電動機の出力トルク
と第２電動機の出力トルクとを平衡させるトルク制御系
の出力信号で前記速度指令値を補正してこの被加工物を
駆動し、前記被加工物が剛体と見做せない場合は前記第
１主軸と第２主軸との相対位置を一致させる位置制御系
の出力信号で前記速度指令値を補正してこの被加工物を
駆動する工作機械の同期運転制御方法において、速度指
令値を前記トルク制御系出力信号で補正しながら前記被
加工物を駆動する際は、前記位置制御系出力信号で前記
第１主軸と第２主軸との相対位置を監視し、これら第１
主軸と第２主軸との相対位置が所定値以上に乖離すれ
ば、前記速度指令値に与える補正信号を前記トルク制御
系出力信号から前記位置制御系出力信号へ切り換える工
作機械の同期運転制御方法であって、その構成は、第１
電動機に結合した第１速度検出手段からフィードバック
する第１速度検出値を速度指令値に一致させる制御を行
う第１電動機制御手段と、この第１電動機に結合した第
１主軸と、第２電動機に結合した第２速度検出手段から
フィードバックする第２速度検出値を前記速度指令値に
一致させる制御を行う第２電動機制御手段と、この第２
電動機に結合した第２主軸と、前記第１電動機制御手段
から取り出した第１トルク指令値と第２電動機制御手段
から取り出した第２トルク指令値とのトルク偏差を零に
するトルク調節信号を出力するトルク調節手段と、前記
第１主軸に結合してその位置信号を出力する第１位置発
信手段と、前記第２主軸に結合してその位置信号を出力
する第２位置発信手段と、これら第１主軸位置信号と第
２主軸位置信号との位置偏差を零にする位置調節信号を
出力する位置調節手段と、前記第２電動機制御手段へ入
力する前記速度指令値に前記トルク調節信号を補正量と
して加算する第１加算手段と、同じく前記第２電動機制
御手段へ入力する前記速度指令値に前記位置調節信号を
補正量として加算する第２加算手段とを備え、前記第１
主軸と第２主軸とで共通の被加工物を駆動する際に、こ
の被加工物が剛体と見做せる場合は前記第２電動機制御
手段へは前記第１加算手段の加算結果を速度指令値とし
て与え、前記被加工物が剛体とは見做せない場合は前記
第２電動機制御手段へは前記第２加算手段の加算結果を
速度指令値として与える構成の工作機械の同期運転制御
装置において、前記第１位置発信手段が出力する第１主
軸位置信号と第２位置発信手段が出力する第２主軸位置
信号との位置偏差が所定値を越えたか否かを検出するコ
ンパレータと、この位置偏差が所定値以内のときは前記
第２電動機制御手段へ与える速度指令値として前記第１
加算手段の加算結果を選択し、前記位置偏差が所定値を
越えたときは前記第２電動機制御手段へ与える速度指令
値として前記第２加算手段の加算結果を選択する速度指
令値選択手段とを備えた同期運転制御装置であるが、或
いは前記の構成で、主軸とこれを駆動する電動機の何れ
か一方にのみ結合した位置発信手段と、この位置発信手
段の出力を速度信号に変換する速度変換手段とをそなえ
た同期運転制御装置とする。In order to achieve the above-mentioned object, a synchronous operation control method for a machine tool and a synchronous operation control apparatus therefor according to the present invention include a first electric motor whose speed is controlled according to a speed command value. A second electric motor, which is connected to the main shaft and whose speed is controlled according to the same speed command value as that of the first electric motor, is connected to the second main shaft, and drives a common workpiece by the first main shaft and the second main shaft. In the machine tool having the structure, when the workpiece is regarded as a rigid body, the speed command value is corrected by the output signal of the torque control system that balances the output torque of the first electric motor and the output torque of the second electric motor. When the lever is driven and the workpiece cannot be regarded as a rigid body, the speed command value is corrected by the output signal of the position control system that matches the relative positions of the first spindle and the second spindle. A machine tool that drives this work piece In the synchronous operation control method, when the workpiece is driven while correcting the speed command value with the torque control system output signal, the relative position between the first spindle and the second spindle is determined by the position control system output signal. Monitor and these first
When the relative position between the main spindle and the second main spindle deviates by a predetermined value or more, a synchronous operation control method for a machine tool that switches a correction signal given to the speed command value from the torque control system output signal to the position control system output signal. Yes, the structure is
First motor control means for controlling the first speed detection value fed back from the first speed detection means coupled to the electric motor to match the speed command value, a first spindle connected to the first electric motor, and a second electric motor. Second electric motor control means for performing control to match the second speed detection value fed back from the coupled second speed detection means with the speed command value;
Outputs a torque adjusting signal for zeroing the torque deviation between the second spindle connected to the electric motor and the first torque command value taken out from the first electric motor control means and the second torque command value taken out from the second electric motor control means. Torque adjusting means, first position transmitting means for connecting to the first main shaft and outputting the position signal, second position transmitting means for connecting to the second main shaft and outputting the position signal, and 1 position adjusting means for outputting a position adjusting signal for making the position deviation between the main spindle position signal and the second main spindle position signal zero, and a correction amount for the torque adjusting signal to the speed command value inputted to the second electric motor controlling means. And a second adding means for adding the position adjustment signal as a correction amount to the speed command value which is also input to the second electric motor control means.
When the common work piece is driven by the spindle and the second spindle, if the work piece can be regarded as a rigid body, the addition result of the first addition means is sent to the second electric motor control means as a speed command value. When the workpiece is not considered to be a rigid body, the synchronous operation control device for a machine tool configured to give the addition result of the second addition means to the second electric motor control means as a speed command value, A comparator for detecting whether the position deviation between the first spindle position signal output by the first position transmitting means and the second spindle position signal output by the second position transmitting means exceeds a predetermined value, and this position deviation is detected. When it is within a predetermined value, the speed command value given to the second electric motor control means is set to the first value.
Speed command value selecting means for selecting the addition result of the adding means, and selecting the addition result of the second adding means as the speed command value given to the second electric motor control means when the position deviation exceeds a predetermined value. A synchronous operation control device provided with the above, or in the above configuration, position transmitting means coupled to only one of the main shaft and the electric motor for driving the same, and speed conversion for converting the output of this position transmitting means into a speed signal. A synchronous operation control device including the means.
【００１２】[0012]
【作用】この発明は、工作機械が備えている２つの主軸
で共通の被加工物を駆動する際に、この被加工物が剛体
であってトルクバランス制御により運転している場合で
も、常時両主軸の相対位置を監視して、この主軸相対位
置のずれが所定値を越えたことを検出すれば、この時点
で当該被加工物は剛体とは見做せなくなったと判断し、
両主軸のトルクを平衡させる制御により運転から両主軸
の位置を一致させる位置制御運転へ自動的に切り換える
ことにより、工作機械を停止することなく円滑に同期運
転を継続出来るようにするものである。更に従来は電動
機と、この電動機が駆動する主軸のそれぞれに速度検出
手段か位置発信手段を結合していたのを、電動機か又は
主軸のいずれか一方にのみ位置発信手段を結合し、この
位置発信手段が出力する位置信号を速度信号に変換する
速度変換手段を接続するものとする。According to the present invention, when the common work piece is driven by the two spindles provided in the machine tool, even if the work piece is a rigid body and is operated by torque balance control, the two work pieces are always operated. When the relative position of the spindle is monitored and it is detected that the deviation of the spindle relative position exceeds a predetermined value, it is determined at this point that the work piece cannot be regarded as a rigid body,
By automatically switching from the operation to the position control operation in which the positions of the both spindles are matched by the control for balancing the torques of the both spindles, the synchronous operation can be smoothly continued without stopping the machine tool. Further, in the past, the speed detecting means or the position transmitting means was connected to each of the electric motor and the main shaft driven by the electric motor, but the position transmitting means is connected to only one of the electric motor and the main shaft to transmit the position The speed conversion means for converting the position signal output by the means into a speed signal shall be connected.
【００１３】[0013]
【実施例】図１は本発明の第１実施例を表したフローチ
ャートであって、請求項１に対応する。この図１のフロ
ーチャートにおいて、第１主軸の位置と第２主軸の位置
とを検出（処理６１，６２）し、これら主軸検出位置か
ら両主軸の位置の偏差を検出（処理６３）し、更にこの
位置偏差から位置調節信号を得て（処理６４）いる。一
方、第１電動機のトルクと第２電動機のトルクとを検出
（処理６５，６６）し、これらの検出トルクから両トル
クの偏差を検出（処理６７）し、更にこのトルク偏差か
らトルク調節信号を得て（処理６８）いる。1 is a flow chart showing a first embodiment of the present invention and corresponds to claim 1. In the flowchart of FIG. 1, the position of the first spindle and the position of the second spindle are detected (processes 61 and 62), the deviation of the positions of both spindles from the detected positions of these spindles is detected (process 63), and this A position adjustment signal is obtained from the position deviation (process 64). On the other hand, the torque of the first electric motor and the torque of the second electric motor are detected (processes 65 and 66), the deviation between the two torques is detected from these detected torques (process 67), and the torque adjustment signal is further calculated from this torque deviation. It has been obtained (process 68).
【００１４】両主軸の位置偏差が所定値を越えたか否か
を判定（判断８１）し、その判定結果がイエス（即ち位
置偏差が所定値以内）ならばトルク調節信号接点５を閉
路させること（処理７０）により、処理７１が設定して
いる速度指令値と前述のトルク調節信号との加算演算
（処理７２）がなされ、この加算演算結果が第２電動機
２３の速度指令値となる。Whether or not the position deviation of both spindles exceeds a predetermined value is judged (decision 81), and if the result of the judgment is YES (that is, the position deviation is within a predetermined value), the torque adjustment signal contact 5 is closed ( By the process 70), an addition calculation (process 72) of the speed command value set in the process 71 and the above-mentioned torque adjustment signal is performed, and the addition calculation result becomes the speed command value of the second electric motor 23.
【００１５】両主軸の位置偏差が所定値を越えたか否か
の前述の判定（判断８１）で、その判定結果がノー（即
ち位置偏差が所定値を越えている）ならば位置調節信号
接点８を閉路させること（処理６９）により、処理７１
が設定している速度指令値と前述の位置調節信号との加
算演算（処理７３）がなされ、この加算演算結果が第２
電動機２３の速度指令値となる。In the above-mentioned judgment (judgment 81) as to whether the position deviation of both spindles exceeds a predetermined value, if the judgment result is NO (that is, the position deviation exceeds the predetermined value), the position adjustment signal contact 8 By closing the circuit (process 69).
The addition calculation (process 73) between the speed command value set by and the position adjustment signal is performed, and the addition calculation result is the second calculation result.
It becomes the speed command value of the electric motor 23.
【００１６】図２は本発明の第２実施例を表した制御ブ
ロック図であって、請求項２に対応するが、この図２の
第２実施例回路に図示の被加工物としてのワーク２，速
度設定器３，トルク調節器４，トルク調節信号接点５，
第１加算器６，位置調節器７，位置調節信号接点８，第
２加算器９，第１主軸１０，第１位置発信器１１，減速
ギヤ１２，第１電動機１３，第１速度検出器１４，第１
インバータ１５，第１電動機制御回路１６，第２主軸２
０，第２位置発信器２１，減速ギヤ２２，第２電動機２
３，第２速度検出器２４，第２インバータ２５，及び第
２電動機制御回路２６の名称・用途・機能は、図５で既
述の従来例回路と同じであるから、これらの説明は省略
する。FIG. 2 is a control block diagram showing a second embodiment of the present invention, which corresponds to the second aspect of the present invention. The workpiece 2 as the workpiece shown in the second embodiment circuit of FIG. , Speed setter 3, torque adjuster 4, torque adjustment signal contact 5,
First adder 6, position adjuster 7, position adjustment signal contact 8, second adder 9, first spindle 10, first position transmitter 11, reduction gear 12, first electric motor 13, first speed detector 14 , First
Inverter 15, first motor control circuit 16, second spindle 2
0, second position transmitter 21, reduction gear 22, second motor 2
The names, applications, and functions of the third speed detector 24, the second inverter 25, and the second electric motor control circuit 26 are the same as those of the conventional circuit described above with reference to FIG. .
【００１７】この図２に図示の第２実施例回路では、第
１主軸１０の位置と第２主軸２０の位置との偏差をコン
パレータ３１へ入力して、この入力偏差が偏差設定器３
２で設定している値を越えているか否かを判定する。そ
の判定結果は補正値選択回路３３へ入力され、この補正
値選択回路３３はコンパレータ３１の判定結果に基づい
てトルク調節信号接点５と位置調節信号接点８のいずれ
か一方の接点を閉路させるが、その動作は以下に述べる
ごとくである。In the second embodiment circuit shown in FIG. 2, the deviation between the position of the first spindle 10 and the position of the second spindle 20 is input to the comparator 31, and this input deviation is input to the deviation setter 3.
It is determined whether the value set in 2 is exceeded. The determination result is input to the correction value selection circuit 33, and the correction value selection circuit 33 closes one of the torque adjustment signal contact 5 and the position adjustment signal contact 8 based on the determination result of the comparator 31. The operation is as described below.
【００１８】工作機械にワーク２が装着される前に、補
正値選択回路３３は先ず位置調節信号接点８を閉路する
信号を出力して位置制御系を作動させて、両主軸の位置
を一致させておく。次いでワーク２を装着し、補正値選
択回路３３はトルク調節信号接点５へ閉路信号を出力す
ると共に位置調節信号接点８へ開路信号を与え、当該工
作機械の２つの主軸はトルクバランス制御による同期運
転となる。尚、図示はしていないが、位置調節信号接点
８を開路する代わりに位置調節器７を零ホールドさせる
ことでも同じ結果が得られる。このトルクバランス制御
で運転している際は、トルク調節器４が出力するトルク
調節信号がトルク調節信号接点５を介して第１加算器６
へ入力するので、ここで速度設定器３が設定している速
度指令値にこのトルク調節信号が加算され、この加算演
算結果が第２電動機２３の速度指令値として第２電動機
制御回路２６へ与えられるのは、図５で既述の従来例回
路の場合と同じである。Before the work 2 is mounted on the machine tool, the correction value selection circuit 33 first outputs a signal for closing the position adjustment signal contact 8 to activate the position control system so that the positions of both spindles coincide with each other. Keep it. Next, the work 2 is mounted, the correction value selection circuit 33 outputs a closing signal to the torque adjustment signal contact 5 and gives an opening signal to the position adjustment signal contact 8, and the two spindles of the machine tool operate synchronously by torque balance control. Becomes Although not shown, the same result can be obtained by holding the position adjuster 7 at zero instead of opening the position adjustment signal contact 8. During operation under this torque balance control, the torque adjustment signal output from the torque adjuster 4 is transmitted via the torque adjustment signal contact 5 to the first adder 6
The torque adjustment signal is added to the speed command value set by the speed setter 3 here, and the addition calculation result is given to the second electric motor control circuit 26 as the speed command value of the second electric motor 23. This is the same as in the case of the conventional circuit described above with reference to FIG.
【００１９】前述したトルクバランス制御運転をしてい
るうちに、ワーク２が剛体とは見做せない状態に変化す
ると、前述したように僅かなトルクの不平衡が原因で第
１主軸１０の位置と第２主軸２０の位置とにずれを生じ
（即ちワーク２にねじれを生じ）、このずれが偏差設定
器３２で設定した値を越えると、コンパレータ３１がこ
れを検出して補正値選択回路３３へ検出信号を送る。そ
の結果補正値選択回路３３はトルク調節信号接点５へ開
路指令を与えると共に、位置調節信号接点８へ閉路指令
を与えるので、位置調節器７が出力する位置調節信号が
位置調節信号接点８を介して第２加算器９へ入力され
る。その結果、速度設定器３が設定している速度指令値
にこの位置調節信号が加算されるので、この加算演算結
果が第２電動機２３の速度指令値として第２電動機制御
回路２６へ与えられることになる。従って、当該工作機
械はトルクバランス制御運転から位置制御運転へ円滑に
切り換わる。When the work 2 changes to a state in which it cannot be regarded as a rigid body during the torque balance control operation described above, the position of the first spindle 10 is caused by a slight torque imbalance as described above. And the position of the second main spindle 20 is displaced (that is, the work 2 is twisted), and when this displacement exceeds the value set by the deviation setter 32, the comparator 31 detects this and the correction value selection circuit 33. Send a detection signal to. As a result, the correction value selection circuit 33 gives an opening instruction to the torque adjustment signal contact 5 and gives a closing instruction to the position adjustment signal contact 8, so that the position adjustment signal output from the position adjuster 7 passes through the position adjustment signal contact 8. Is input to the second adder 9. As a result, the position adjustment signal is added to the speed command value set by the speed setter 3, and the result of this addition operation is given to the second electric motor control circuit 26 as the speed command value of the second electric motor 23. become. Therefore, the machine tool smoothly switches from the torque balance control operation to the position control operation.
【００２０】図３は本発明の第３実施例を表した制御ブ
ロック図であって、請求項３に対応するが、この図３に
図示の第３実施例回路は、第１電動機１３に結合してい
た第１速度検出器１４を取り除き、第１位置発信器１１
が出力する位置信号を速度信号に変換する第１速度変換
回路４１を設けることと、第２電動機２３に結合してい
た第２速度検出器２４を取り除き、第２位置発信器２１
が出力する位置信号を速度信号に変換する第２速度変換
回路４２を設けているところが図２で既述の第２実施例
回路とは異なる点である。この第３実施例回路における
第１速度変換回路４１と第２速度変換回路４２の出力レ
ベルを減速ギヤ１２と減速ギヤ２２の減速比を考慮に入
れて定めれば、第１電動機１３の速度又は第２電動機２
３の速度と等価にすることができる。FIG. 3 is a control block diagram showing a third embodiment of the present invention, which corresponds to claim 3. The circuit of the third embodiment shown in FIG. 3 is connected to the first electric motor 13. The first speed detector 14 which has been used is removed, and the first position transmitter 11
By providing the first speed conversion circuit 41 for converting the position signal outputted by the second speed signal into the speed signal, and removing the second speed detector 24 coupled to the second electric motor 23 to remove the second position transmitter 21.
2 is different from the circuit of the second embodiment already described in FIG. 2 in that the second speed conversion circuit 42 for converting the position signal output by the above-mentioned device into a speed signal is provided. If the output levels of the first speed conversion circuit 41 and the second speed conversion circuit 42 in the circuit of the third embodiment are determined in consideration of the reduction ratio of the reduction gear 12 and the reduction gear 22, the speed of the first electric motor 13 or Second electric motor 2
It can be equivalent to a speed of 3.
【００２１】図４は本発明の第４実施例を表した制御ブ
ロック図であって、請求項４に対応するが、この図４に
図示の第４実施例回路は、第１主軸１０に結合していた
第１位置発信器１１を取り除き、第１電動機１３には第
３位置発信器５１を結合し、その出力信号を速度信号に
変換する第３速度変換回路５２を設ける。又、第２主軸
２０に結合していた第２位置発信器２１を取り除き、第
２電動機２３には第４位置発信器５３を結合し、その出
力信号を速度信号に変換する第４速度変換回路５４を設
ける。第３速度変換回路５２と第４速度変換回路５４の
出力信号は第１電動機制御回路１６又は第２電動機制御
回路２６へフィードバックする速度検出値として使用
し、第３位置発信器５１と第４位置発信器５３の出力信
号は第１主軸１０の位置検出信号と第２主軸２０の位置
検出信号として使用する。電動機速度よりも主軸速度の
ほうが遅いのが通常であるから、電動機に位置発信手段
を結合することで位置検出精度が向上する。FIG. 4 is a control block diagram showing a fourth embodiment of the present invention, which corresponds to claim 4. The circuit of the fourth embodiment shown in FIG. 4 is connected to the first spindle 10. The first position transmitter 11 that has been used is removed, the third position transmitter 51 is coupled to the first electric motor 13, and a third speed conversion circuit 52 that converts the output signal thereof into a speed signal is provided. Further, the second position transmitter 21 connected to the second spindle 20 is removed, the fourth position transmitter 53 is connected to the second electric motor 23, and a fourth speed conversion circuit for converting the output signal thereof into a speed signal. 54 is provided. The output signals of the third speed conversion circuit 52 and the fourth speed conversion circuit 54 are used as speed detection values to be fed back to the first motor control circuit 16 or the second motor control circuit 26, and the third position transmitter 51 and the fourth position The output signal of the oscillator 53 is used as the position detection signal of the first spindle 10 and the position detection signal of the second spindle 20. Since the spindle speed is usually slower than the electric motor speed, the position detection accuracy is improved by connecting the position transmitting means to the electric motor.
【００２２】[0022]
【発明の効果】この発明によれば、工作機械が備えてい
る２つの主軸で共通の被加工物を駆動する際に、この被
加工物が剛体であって、２つの主軸のトルクバランス制
御で運転している場合でも、それぞれの主軸の位置を別
個に検出して両主軸の位置偏差をコンパレータで常時監
視する。トルクバランス制御運転中にこの位置偏差が所
定値以上に大きくなれば、この被加工物はもはや剛体と
は見做せなくなったと判定し、２つの主軸のトルクバラ
ンス制御を位置制御に切り換え、両主軸の相対位置が常
に一致した状態で運転するようにする。この切替え操作
は工作機械が運転中であっても、自動的に且つ円滑に行
えるので、切替え時に工作機械を一旦停止した後に再起
動させる手間と時間が省略されるので、機械の稼働率が
向上する効果が得られるし、被加工物が剛体とは見做せ
なくなった時点を確実に検出できるので、被加工物が剛
体とは見做せない状態になっているにもかかわらずトル
クバランス制御運転を継続して、この被加工物が捩じれ
てしまう不都合を回避できる効果も合わせて得られる。According to the present invention, when a common work piece is driven by two main spindles of a machine tool, the work piece is a rigid body and torque balance control of the two main spindles is performed. Even during operation, the position of each spindle is detected separately and the positional deviation of both spindles is constantly monitored by the comparator. If this position deviation becomes larger than a predetermined value during torque balance control operation, it is judged that this work piece can no longer be regarded as a rigid body, and the torque balance control of the two spindles is switched to the position control. Make sure that the relative position of is always consistent. This switching operation can be performed automatically and smoothly even when the machine tool is in operation, so the time and effort to stop and restart the machine tool at the time of switching can be saved, improving the machine operation rate. It is possible to obtain the effect and to reliably detect the time when the work piece can not be regarded as a rigid body, so the torque balance control can be performed even though the work piece cannot be regarded as a rigid body. It is also possible to obtain an effect of avoiding the inconvenience that the workpiece is twisted by continuing the operation.
【図１】本発明の第１実施例を表したフローチャートFIG. 1 is a flowchart showing a first embodiment of the present invention.
【図２】本発明の第２実施例を表した制御ブロック図FIG. 2 is a control block diagram showing a second embodiment of the present invention.
【図３】本発明の第３実施例を表した制御ブロック図FIG. 3 is a control block diagram showing a third embodiment of the present invention.
【図４】本発明の第４実施例を表した制御ブロック図FIG. 4 is a control block diagram showing a fourth embodiment of the present invention.
【図５】２つの主軸で共通の被加工物を駆動する工作機
械の両主軸を同期して運転する従来例を示した制御ブロ
ック図FIG. 5 is a control block diagram showing a conventional example in which both spindles of a machine tool that drives a common workpiece by two spindles are operated in synchronization.
２ 被加工物としてのワーク ３ 速度設定器 ４ トルク調節器 ５ トルク調節信号接点 ６ 第１加算器 ７ 位置調節器 ８ 位置調節信号接点 ９ 第２加算器 １０ 第１主軸 １１ 第１位置発信器 １３ 第１電動機 １４ 第１速度検出器 １５ 第１インバータ １６ 第１電動機制御回路 ２０ 第２主軸 ２１ 第２位置発信器 ２３ 第２電動機 ２４ 第２速度検出器 ２５ 第２インバータ ２６ 第２電動機制御回路 ３１ コンパレータ ３２ 偏差設定器 ３３ 補正値選択回路 ４１ 第１速度変換回路 ４２ 第２速度変換回路 ５１ 第３位置発信器 ５２ 第３速度変換回路 ５３ 第４位置発信器 ５４ 第４速度変換回路 ６１〜７３ 処理 ８１ 判断 2 Work as Workpiece 3 Speed Setter 4 Torque Adjuster 5 Torque Adjustment Signal Contact 6 1st Adder 7 Position Adjuster 8 Position Adjustment Signal Contact 9 2nd Adder 10 1st Spindle 11 1st Position Transmitter 13 1st electric motor 14 1st speed detector 15 1st inverter 16 1st electric motor control circuit 20 2nd main spindle 21 2nd position transmitter 23 2nd electric motor 24 2nd speed detector 25 2nd inverter 26 2nd electric motor control circuit 31 Comparator 32 Deviation setter 33 Correction value selection circuit 41 First speed conversion circuit 42 Second speed conversion circuit 51 Third position transmitter 52 Third speed conversion circuit 53 Fourth position transmitter 54 Fourth speed conversion circuit 61-73 Processing 81 Judgment
Claims (4)
１電動機を第１主軸に結合し、この第１電動機と同一の
速度指令値に従って速度制御されている第２電動機を第
２主軸に結合し、これら第１主軸と第２主軸とで共通の
被加工物を駆動する構成の工作機械で、前記被加工物が
剛体と見做せる場合は前記第１電動機の出力トルクと第
２電動機の出力トルクとを平衡させるトルク制御系の出
力信号で前記速度指令値を補正してこの被加工物を駆動
し、前記被加工物が剛体と見做せない場合は前記第１主
軸と第２主軸との相対位置を一致させる位置制御系の出
力信号で前記速度指令値を補正してこの被加工物を駆動
する工作機械の同期運転制御方法において、 速度指令値を前記トルク制御系出力信号で補正しながら
前記被加工物を駆動する際は、前記位置制御系出力信号
で前記第１主軸と第２主軸との相対位置を監視し、これ
ら第１主軸と第２主軸との相対位置が所定値以上に乖離
すれば、前記速度指令値に与える補正信号を前記トルク
制御系出力信号から前記位置制御系出力信号へ切り換え
ることを特徴とする工作機械の同期運転制御方法。1. A first electric motor whose speed is controlled according to a speed command value is coupled to a first spindle, and a second electric motor whose speed is controlled according to the same speed command value as this first motor is coupled to a second spindle. However, in a machine tool configured to drive a common workpiece by the first spindle and the second spindle, when the workpiece can be regarded as a rigid body, the output torque of the first electric motor and the second electric motor The speed command value is corrected by the output signal of the torque control system that balances the output torque to drive the work piece, and when the work piece cannot be regarded as a rigid body, the first spindle and the second spindle. In the synchronous operation control method of the machine tool that drives the workpiece by correcting the speed command value with the output signal of the position control system that matches the relative position with, correct the speed command value with the output signal of the torque control system. While driving the workpiece , The relative position of the first spindle and the second spindle is monitored by the output signal of the position control system, and if the relative position of the first spindle and the second spindle deviates by a predetermined value or more, the speed command value is determined. A synchronous operation control method for a machine tool, characterized in that the correction signal to be applied is switched from the torque control system output signal to the position control system output signal.
らフィードバックする第１速度検出値を速度指令値に一
致させる制御を行う第１電動機制御手段と、この第１電
動機に結合した第１主軸と、第２電動機に結合した第２
速度検出手段からフィードバックする第２速度検出値を
前記速度指令値に一致させる制御を行う第２電動機制御
手段と、この第２電動機に結合した第２主軸と、前記第
１電動機制御手段から取り出した第１トルク指令値と第
２電動機制御手段から取り出した第２トルク指令値との
トルク偏差を零にするトルク調節信号を出力するトルク
調節手段と、前記第１主軸に結合してその位置信号を出
力する第１位置発信手段と、前記第２主軸に結合してそ
の位置信号を出力する第２位置発信手段と、これら第１
主軸位置信号と第２主軸位置信号との位置偏差を零にす
る位置調節信号を出力する位置調節手段と、前記第２電
動機制御手段へ入力する前記速度指令値に前記トルク調
節信号を補正量として加算する第１加算手段と、同じく
前記第２電動機制御手段へ入力する前記速度指令値に前
記位置調節信号を補正量として加算する第２加算手段と
を備え、前記第１主軸と第２主軸とで共通の被加工物を
駆動する際に、この被加工物が剛体と見做せる場合は前
記第２電動機制御手段へは前記第１加算手段の加算結果
を速度指令値として与え、前記被加工物が剛体とは見做
せない場合は前記第２電動機制御手段へは前記第２加算
手段の加算結果を速度指令値として与える構成の工作機
械の同期運転制御装置において、 前記第１位置発信手段が出力する第１主軸位置信号と第
２位置発信手段が出力する第２主軸位置信号との位置偏
差が所定値を越えたか否かを検出するコンパレータと、
この位置偏差が所定値以内のときは前記第２電動機制御
手段へ与える速度指令値として前記第１加算手段の加算
結果を選択し、前記位置偏差が所定値を越えたときは前
記第２電動機制御手段へ与える速度指令値として前記第
２加算手段の加算結果を選択する速度指令値選択手段と
を備えていることを特徴とする工作機械の同期運転制御
装置。2. A first electric motor control means for controlling a first speed detection value fed back from a first speed detection means connected to the first electric motor to match a speed command value, and a first electric motor connected to the first electric motor. Main shaft and second motor connected to the second motor
Second motor control means for controlling the second speed detection value fed back from the speed detection means to match the speed command value, a second spindle connected to the second motor, and a first motor control means. A torque adjusting means for outputting a torque adjusting signal for making a torque deviation between the first torque instruction value and the second torque instruction value extracted from the second electric motor controlling means zero, and a position signal for connecting the torque adjusting means to the first spindle. A first position transmitting means for outputting and a second position transmitting means for connecting to the second main shaft and outputting a position signal thereof, and these first position transmitting means
Position adjusting means for outputting a position adjusting signal for making the position deviation between the spindle position signal and the second spindle position signal zero, and the torque adjusting signal as a correction amount for the speed command value inputted to the second electric motor controlling means. A first adding means for adding and a second adding means for adding the position adjustment signal as a correction amount to the speed command value similarly input to the second electric motor control means are provided, and the first spindle and the second spindle are provided. In the case of driving a common work piece in the case where the work piece can be regarded as a rigid body, the addition result of the first adding means is given to the second electric motor control means as a speed command value, and the work piece is processed. In a synchronous operation control device for a machine tool, configured to give the addition result of the second adding means to the second electric motor control means as a speed command value when the object cannot be regarded as a rigid body, the first position transmitting means The first main output by A comparator for detecting whether or not the positional deviation between the axis position signal and the second spindle position signal output by the second position transmitting means exceeds a predetermined value;
When the position deviation is within a predetermined value, the addition result of the first adding means is selected as the speed command value given to the second electric motor control means, and when the position deviation exceeds the predetermined value, the second electric motor control is performed. And a speed command value selecting means for selecting the addition result of the second adding means as a speed command value given to the means.
らフィードバックする第１速度検出値を速度指令値に一
致させる制御を行う第１電動機制御手段と、この第１電
動機に結合した第１主軸と、第２電動機に結合した第２
速度検出手段からフィードバックする第２速度検出値を
前記速度指令値に一致させる制御を行う第２電動機制御
手段と、この第２電動機に結合した第２主軸と、前記第
１電動機制御手段から取り出した第１トルク指令値と第
２電動機制御手段から取り出した第２トルク指令値との
トルク偏差を零にするトルク調節信号を出力するトルク
調節手段と、前記第１主軸に結合してその位置信号を出
力する第１位置発信手段と、前記第２主軸に結合してそ
の位置信号を出力する第２位置発信手段と、これら第１
主軸位置信号と第２主軸位置信号との位置偏差を零にす
る位置調節信号を出力する位置調節手段と、前記第２電
動機制御手段へ入力する前記速度指令値に前記トルク調
節信号を補正量として加算する第１加算手段と、同じく
前記第２電動機制御手段へ入力する前記速度指令値に前
記位置調節信号を補正量として加算する第２加算手段と
を備え、前記第１主軸と第２主軸とで共通の被加工物を
駆動する際に、この被加工物が剛体と見做せる場合は前
記第２電動機制御手段へは前記第１加算手段の加算結果
を速度指令値として与え、前記被加工物が剛体とは見做
せない場合は前記第２電動機制御手段へは前記第２加算
手段の加算結果を速度指令値として与える構成の工作機
械の同期運転制御装置において、 前記第１位置発信手段が出力する第１主軸位置信号を速
度信号へ変換して、これを前記第１速度検出手段が出力
する第１速度検出値の代わりに前記第１電動機制御手段
へフィードバックする第１速度変換手段と、前記第２位
置発信手段が出力する第２主軸位置信号を速度信号へ変
換して、これを前記第２速度検出手段が出力する第２速
度検出値の代わりに前記第２電動機制御手段へフィード
バックする第２速度変換手段と、前記第１位置発信手段
が出力する第１主軸位置信号と第２位置発信手段が出力
する第２主軸位置信号との位置偏差が所定値を越えたか
否かを検出するコンパレータと、この位置偏差が所定値
以内のときは前記第２電動機制御手段へ与える速度指令
値として前記第１加算手段の加算結果を選択し、前記位
置偏差が所定値を越えたときは前記第２電動機制御手段
へ与える速度指令値として前記第２加算手段の加算結果
を選択する速度指令値選択手段とを備えていることを特
徴とする工作機械の同期運転制御装置。3. A first electric motor control means for controlling a first speed detection value fed back from a first speed detection means connected to the first electric motor to match a speed command value, and a first electric motor connected to the first electric motor. Main shaft and second motor connected to the second motor
Second motor control means for controlling the second speed detection value fed back from the speed detection means to match the speed command value, a second spindle connected to the second motor, and a first motor control means. A torque adjusting means for outputting a torque adjusting signal for making a torque deviation between the first torque instruction value and the second torque instruction value extracted from the second electric motor controlling means zero, and a position signal for connecting the torque adjusting means to the first spindle. A first position transmitting means for outputting and a second position transmitting means for connecting to the second main shaft and outputting a position signal thereof, and these first position transmitting means
Position adjusting means for outputting a position adjusting signal for making the position deviation between the spindle position signal and the second spindle position signal zero, and the torque adjusting signal as a correction amount for the speed command value inputted to the second electric motor controlling means. A first adding means for adding and a second adding means for adding the position adjustment signal as a correction amount to the speed command value similarly input to the second electric motor control means are provided, and the first spindle and the second spindle are provided. In the case of driving a common work piece in the case where the work piece can be regarded as a rigid body, the addition result of the first adding means is given to the second electric motor control means as a speed command value, and the work piece is processed. In a synchronous operation control device for a machine tool, configured to give the addition result of the second adding means to the second electric motor control means as a speed command value when the object cannot be regarded as a rigid body, the first position transmitting means The first main output by First speed conversion means for converting the shaft position signal into a speed signal and feeding back the speed signal to the first electric motor control means instead of the first speed detection value output by the first speed detection means; and the second position. Second speed conversion in which the second spindle position signal output by the transmission means is converted into a speed signal and is fed back to the second electric motor control means instead of the second speed detection value output by the second speed detection means. Means and a comparator for detecting whether or not the positional deviation between the first spindle position signal output by the first position transmitting means and the second spindle position signal output by the second position transmitting means exceeds a predetermined value. When the position deviation is within a predetermined value, the addition result of the first adding means is selected as the speed command value to be given to the second electric motor control means, and when the position deviation exceeds the predetermined value, the second electric motor control means is selected. What Synchronous operation control device for a machine tool, characterized by and a speed command value selecting means for selecting a sum of said second adder means as obtain the speed command value.
らフィードバックする第１速度検出値を速度指令値に一
致させる制御を行う第１電動機制御手段と、この第１電
動機に結合した第１主軸と、第２電動機に結合した第２
速度検出手段からフィードバックする第２速度検出値を
前記速度指令値に一致させる制御を行う第２電動機制御
手段と、この第２電動機に結合した第２主軸と、前記第
１電動機制御手段から取り出した第１トルク指令値と第
２電動機制御手段から取り出した第２トルク指令値との
トルク偏差を零にするトルク調節信号を出力するトルク
調節手段と、前記第１主軸に結合してその位置信号を出
力する第１位置発信手段と、前記第２主軸に結合してそ
の位置信号を出力する第２位置発信手段と、これら第１
主軸位置信号と第２主軸位置信号との位置偏差を零にす
る位置調節信号を出力する位置調節手段と、前記第２電
動機制御手段へ入力する前記速度指令値に前記トルク調
節信号を補正量として加算する第１加算手段と、同じく
前記第２電動機制御手段へ入力する前記速度指令値に前
記位置調節信号を補正量として加算する第２加算手段と
を備え、前記第１主軸と第２主軸とで共通の被加工物を
駆動する際に、この被加工物が剛体と見做せる場合は前
記第２電動機制御手段へは前記第１加算手段の加算結果
を速度指令値として与え、前記被加工物が剛体とは見做
せない場合は前記第２電動機制御手段へは前記第２加算
手段の加算結果を速度指令値として与える構成の工作機
械の同期運転制御装置において、 前記第１電動機に前記第１速度検出手段の代わりに結合
して第１電動機位置信号を出力する第３位置発信手段
と、この第３位置発信手段が出力する第１電動機位置信
号を速度信号へ変換してこれを前記第１速度検出手段が
出力する第１速度検出値の代わりに前記第１電動機制御
手段へフィードバックする第３速度変換手段と、前記第
２電動機に前記第２速度検出手段の代わりに結合して第
２電動機位置信号を出力する第４位置発信手段と、この
第４位置発信手段が出力する第２電動機位置信号を速度
信号へ変換してこれを前記第２速度検出手段が出力する
第２速度検出値の代わりに前記第２電動機制御手段へフ
ィードバックする第４速度変換手段と、前記第３位置発
信手段の出力信号と第２位置発信手段の出力信号との位
置偏差が所定値を越えたか否かを検出するコンパレータ
と、この位置偏差が所定値以内のときは前記第２電動機
制御手段へ与える速度指令値として前記第１加算手段の
加算結果を選択し、前記位置偏差が所定値を越えたとき
は前記第２電動機制御手段へ与える速度指令値として前
記第２加算手段の加算結果を選択する速度指令値選択手
段とを備えていることを特徴とする工作機械の同期運転
制御装置。4. A first electric motor control means for controlling a first speed detection value fed back from a first speed detection means connected to the first electric motor to match a speed command value, and a first electric motor connected to the first electric motor. Main shaft and second motor connected to the second motor
Second motor control means for controlling the second speed detection value fed back from the speed detection means to match the speed command value, a second spindle connected to the second motor, and a first motor control means. A torque adjusting means for outputting a torque adjusting signal for making a torque deviation between the first torque instruction value and the second torque instruction value extracted from the second electric motor controlling means zero, and a position signal for connecting the torque adjusting means to the first spindle. A first position transmitting means for outputting and a second position transmitting means for connecting to the second main shaft and outputting a position signal thereof, and these first position transmitting means
Position adjusting means for outputting a position adjusting signal for making the position deviation between the spindle position signal and the second spindle position signal zero, and the torque adjusting signal as a correction amount for the speed command value inputted to the second electric motor controlling means. A first adding means for adding and a second adding means for adding the position adjustment signal as a correction amount to the speed command value similarly input to the second electric motor control means are provided, and the first spindle and the second spindle are provided. In the case of driving a common work piece in the case where the work piece can be regarded as a rigid body, the addition result of the first adding means is given to the second electric motor control means as a speed command value, and the work piece is processed. In the synchronous operation control device for a machine tool, wherein the object is not considered to be a rigid body, the addition result of the second adding means is given to the second electric motor control means as a speed command value. First speed detecting means In place of the first electric motor position signal for outputting the first electric motor position signal, and the first electric motor position signal output by the third position transmitting means for converting the speed signal into the first speed detecting means. A third speed converting means for feeding back to the first electric motor control means instead of the first speed detection value output by the second electric motor, and a second electric motor position signal connected to the second electric motor instead of the second speed detecting means. The fourth position transmitting means for outputting and the second electric motor position signal outputted by the fourth position transmitting means are converted into a speed signal and the second speed detection value outputted by the second speed detecting means is replaced with the second speed detection value. Fourth speed conversion means for feeding back to the second electric motor control means, and a comparator for detecting whether or not the positional deviation between the output signal of the third position transmission means and the output signal of the second position transmission means exceeds a predetermined value. , When the position deviation is within a predetermined value, the addition result of the first adding means is selected as a speed command value to be given to the second electric motor control means, and when the position deviation exceeds a predetermined value, the second electric motor control is performed. And a speed command value selecting means for selecting the addition result of the second adding means as a speed command value given to the means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5064472A JPH06284774A (en) | 1993-03-24 | 1993-03-24 | Method and apparatus for synchronous operation of machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5064472A JPH06284774A (en) | 1993-03-24 | 1993-03-24 | Method and apparatus for synchronous operation of machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06284774A true JPH06284774A (en) | 1994-10-07 |
Family
ID=13259210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5064472A Pending JPH06284774A (en) | 1993-03-24 | 1993-03-24 | Method and apparatus for synchronous operation of machine tool |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06284774A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001252A1 (en) * | 1997-07-02 | 1999-01-14 | Mitsubishi Denki Kabushiki Kaisha | Synchronization control device for servomotors |
| CN1299174C (en) * | 2003-09-27 | 2007-02-07 | 哈尔滨工业大学 | Motor controlling device |
-
1993
- 1993-03-24 JP JP5064472A patent/JPH06284774A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001252A1 (en) * | 1997-07-02 | 1999-01-14 | Mitsubishi Denki Kabushiki Kaisha | Synchronization control device for servomotors |
| GB2342468A (en) * | 1997-07-02 | 2000-04-12 | Mitsubishi Electric Corp | Synchronization control device for servomotors |
| GB2342468B (en) * | 1997-07-02 | 2001-09-12 | Mitsubishi Electric Corp | Synchronization control device for servomotors |
| CN1096333C (en) * | 1997-07-02 | 2002-12-18 | 三菱电机株式会社 | Synchronization control device for servomotors |
| CN1299174C (en) * | 2003-09-27 | 2007-02-07 | 哈尔滨工业大学 | Motor controlling device |
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